SECTION 7: WINDRIVE T200 User's Manual
PAGE 7-39
7.10.1.5 Normal and Reduced Power (Automatic and Manual Mode) Limits Set-up
The Limits Dialog box allows the user to specify operating limits for both torque and velocity to the servo-drive to
ensure proper tuning and safe operation of the system (see Section 6 for a description of functionality). Automatic, or
normal mode operation is used after a servo-drive has been tuned and configured successfully and the values for both the
torque and velocity limits are set higher than those for manual mode.
Figure 7.41: Limits Dialog Box
7.10.1.6 Hardware Limit Switches Set-up
Figure 7.42: Limit Switches Dialog Box
A comprehensive explanation of the Limit Switch functionality can be found in Section 6.4.5 Limit Switch Function.
Manual Mode Disable: The user can disable
Manual Mode if he does not wish to wire up the
Manual/Automatic digital input (connector J1, pin
#7). The Manual Mode Disable box should be
ticked to disable the T200 from entering Manual
Mode.
Automatic Mode Parameters
Normal Velocity Limit: The velocity command
limit is specified in RPM.
Normal Torque Limit: The torque command
limit is specified in Nm or lb-in.
Manual Mode Parameters
Reduced Velocity Limit: The velocity
command limit is specified in RPM.
Reduced Torque Limit: The torque command
limit is specified in Nm or lb-in.
Clockwise and Counter-Clockwise hardware Limit
Switches connected to the drive system can be
disabled from the Limit Switches Dialog box. The
Limit Switches Disabled checkbox should be ticked
to disable the hardware Limit Switches.
Velocity Mode: If a Limit Switch is activated when
the T200 is in Velocity Mode, the motor is brought to
a Servo Stop by the drive, and further movement in
the direction of that Limit Switch is not allowed. The
Quick Stop Deceleration Rate at which the motor
stops is determined by the user, in units of rad/s
2
.
Movement in the other direction is still possible.
Torque Mode: If the Limit Switch is activated when
the T200 is in Torque Mode, then the torque
command will be clamped to zero in that direction.
Torque generation in the other direction is still
possible.
WARNING: The user should only consider disabling of Manual Mode when he is assured that
the T200 is properly configured and no dangers to equipment or personnel are present e.g. if
the machine safety cage is open then disabling of Manual Mode is not advised.
CAUTION
- The safety Limit Switches of
the machine must be connected through
hardware limit circuits such that the drive is
hardware disabled if a limit switch is
activated.
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